I have sensitive teeth and my dentist gave me the Opalescence Go. It is a pre-filled whitening tray with a strip in it. I used one every other day for a week and no problems. I am very happy with the lightening of my teeth. The pack came with whitening toothpaste which I used after the strip and still no issues with sensitivity.
I've been using Hello Charcoal toothpaste. I'm about halfway into the tube, and I feel like I've noticed at least a small difference in my teeth whiteness. It's not a full-on whitening program, but could be a great addition to your routine.